In this study, a shift control algorithm far improving the shift quality of a parallel hybrid drivetrain with an automated manual transmission (AM) is proposed. The general AMT requires the sophisticated control of clutch in the clutch engagement to improve its shift characteristics, and that is generally known to be difficult. But in this hybrid drivetrain, we can control the speeds of clutch plates by engine and motor control, and it provides the easier clutch control in shift process than general AMT. Additionally, it permits the much-reduced shift shock. The motor control during the shift period is also to achieve reduced velocity drop of the vehicle in comparison with that of a general AMT. Furthermore various dynamometer-based experiments are carried out to prove the validity of the proposed shift control algorithm.